Bruno Lacerda

Research Fellow in Intelligent Robotics

School of Computer Science
University of Birmingham

Edgbaston, Birmingham, B15 2TT
United Kingdom
E-mail: ku.ca.mahb.sc@adrecal.b

Research

I am interested on investigating how formal methods can be used in robotics, in particular, how temporal logic can be used to specify and synthesize high-level controllers for robot systems, with formal performance guarantees. My research interests include:

  • Sequential Decision Making
  • Probabilistic Model Checking
  • Multi-Robot Coordination
  • Service Robotics
  • Temporal Logics
  • Petri Nets
  • Supervisory Control

I am part of the Intelligent Robotics Lab, currently working on STRANDS (Spatio-Temporal Representations and Activities for Cognitive Control in Long-Term Scenarios), a 4-year EU FP7 Integrating Project. My main goal in STRANDS is to develop control approaches that take advantage of the spatio-temporal data obtained from the long term deployment of robot systems.

Teaching

Academic Career

My academic degrees were awarded by Instituto Superior Técnico, Lisbon, Portugal. My BSc and MSc degrees were obtained on the Department of Mathematics, and my PhD degree was obtained on the Department of Electrical and Computing Engineering. During my PhD, under the supervision of Prof. Pedro Lima, I was a member of the Intelligent Robot and Systems Group in the Institute for Systems and Robotics.

During my PhD, I was also a visitor in different research labs.

My cv (last updated on June 2016) can be found here.


Publications

My Google Scholar Profile is available here.

Journal Papers

  • On the Notion of Uncontrollable Marking in Supervisory Control of Petri Nets. Bruno Lacerda and Pedro U. Lima. IEEE Transactions on Automatic Control, Vol. 59, No. 11, 2014. (bib) (link)
  • Linear-Time Temporal Logic Control of Discrete Event Models of Cooperative Robots. Bruno Lacerda and Pedro U. Lima. Journal of Physical Agents, Vol. 2, No. 1, 2008. (bib) (link)

Conference Papers

  • Partial Order Temporal Plan Merging for Mobile Robot Tasks. Lenka Mudrova, Bruno Lacerda and Nick Hawes. In Proceedings of the 22nd European Conference on Artificial Intelligence (ECAI), The Hague, Netherlands, 2016. (bib)

  • An Integrated Control Framework for Long-Term Autonomy in Mobile Service Robots. Lenka Mudrova, Bruno Lacerda and Nick Hawes. In Proceedings of the 7th European Conference on Mobile Robotics (ECMR), Lincoln, UK, 2015. (bib) (link)

  • Optimal Policy Generation for Partially Satisfiable Co-Safe LTL Specifications. Bruno Lacerda, David Parker and Nick Hawes. In Proceedings of the 24th International Joint Conference on Artificial Intelligence (IJCAI), Buenos Aires, Argentina, 2015. (bib) (pdf)

  • Now or later? Predicting and maximising success of navigation actions from long-term experience. Jaime P. Fentanes, Bruno Lacerda, Tomas Krajnik, Nick Hawes and Marc Hanheide. In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015. (bib) (link)

  • Optimal and dynamic planning for Markov decision processes with co-safe LTL specifications. Bruno Lacerda, David Parker and Nick Hawes. In Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, 2014. (bib) (link)

  • LTL-Based Decentralized Supervisory Control of Multi-Robot Tasks Modelled as Petri Nets. Bruno Lacerda and Pedro U. Lima. In Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011. (bib) (link)

  • Designing Petri Net Supervisors from LTL Specifications. Bruno Lacerda and Pedro U. Lima. In Proceedings of Robotics: Science and Systems VII (RSS), Los Angeles, CA, USA, 2011. (bib) (link) (video)

  • Designing Petri Net Supervisors for Multi-Agent Systems from LTL Specifications (Extended Abstract). Bruno Lacerda and Pedro U. Lima. In Proceedings of the 10th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Taipei, Taiwan, 2011. (bib) (link)

  • Petri Net Based Supervisory Control of a Social Robot with LTL Specifications. Bruno Lacerda, Pedro U. Lima, Javi Gorostiza and Miguel A. Salichs. In Proceedings of the 11th International Conference On Mobile Robots And Competitions, Lisbon, Portugal, 2011. (bib) (pdf) (video)

  • Petri Nets as an Analysis Tool for Data Flow in Wireless Sensor Networks. Bruno Lacerda and Pedro U. Lima. In Proceedings of the 1st Portuguese Conference on Wireless Sensor Networks (CNRS), Coimbra, Portugal, 2011. (bib) (pdf)

Workshop Papers

  • Nested Value Iteration for Partially Satisfiable Co-Safe LTL Specifications (Extended Abstract). Bruno Lacerda, David Parker and Nick Hawes. In Proceedings of the AAAI Fall Symposium on Sequential Decision Making for Intelligent Agents (SDMIA), Arlington, Virginia, USA, 2015. (bib) (link)

  • Optimal Motion Planning for Markov Decision Processes with Co-Safe Linear Temporal Logic Specifications. Bruno Lacerda, David Parker and Nick Hawes. In Proceedings of the 31st Workshop of the UK Planning & Scheduling Special Interest Group (PlanSIG), Edinburgh, UK, 2014. (bib) (link)

  • LTL Plan Specification for Robotic Tasks Modelled as Finite State Automata. Bruno Lacerda and Pedro U. Lima. In Proceedings of the AAMAS '09 Workshop on Agent Design: Advancing from Practice to Theory (ADAPT), Budapest, Hungary, 2009. (bib) (pdf)

Theses

  • Supervision of Discrete Event Systems Based on Temporal Logic Specifications. Bruno Lacerda. PhD Thesis, Instituto Superior Técnico, 2013. (bib) (link)

  • Linear-Time Temporal Logic Control of Discrete Event Systems. Bruno Lacerda. MSc Thesis, Instituto Superior Técnico, 2007. (bib) (link)